Get 20M+ Full-Text Papers For Less Than $1.50/day. Start a 14-Day Trial for You or Your Team.

Learn More →

Dynamic surface control for formation control of quadrotors with input constraints and disturbances

Dynamic surface control for formation control of quadrotors with input constraints and disturbances In this paper, a novel formation control scheme is presented by integrating the dynamic surface control for multi-quadrotor subject with model uncertainties and external disturbances. First, according to requirements of formation control, the target trajectories of followers are obtained by the designed virtual quadrotors. Then, the formation control problem is transformed into the trajectory tracking control problem. Second, the saturation function and the auxiliary system are developed to make up for nonlinear terms arising from input saturation. A nonlinear extended state observer (ESO) is proposed to estimate and compensate for model uncertainties and external disturbances, and a dynamic surface controller based on the nonlinear ESO is constructed for the desired formation performance. In addition, the amount of communications between the quadrotors is decreased by the constructed distributed speed estimator. And the uniformly ultimately bounded is proved by using the Lyapunov method. Finally, the numerical example is used to demonstrate that the designed controller is effective. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Transactions of the Institute of Measurement and Control SAGE

Dynamic surface control for formation control of quadrotors with input constraints and disturbances

Loading next page...
 
/lp/sage/dynamic-surface-control-for-formation-control-of-quadrotors-with-input-oMF513OZwP

References (45)

Publisher
SAGE
Copyright
© The Author(s) 2022
ISSN
0142-3312
eISSN
1477-0369
DOI
10.1177/01423312221085391
Publisher site
See Article on Publisher Site

Abstract

In this paper, a novel formation control scheme is presented by integrating the dynamic surface control for multi-quadrotor subject with model uncertainties and external disturbances. First, according to requirements of formation control, the target trajectories of followers are obtained by the designed virtual quadrotors. Then, the formation control problem is transformed into the trajectory tracking control problem. Second, the saturation function and the auxiliary system are developed to make up for nonlinear terms arising from input saturation. A nonlinear extended state observer (ESO) is proposed to estimate and compensate for model uncertainties and external disturbances, and a dynamic surface controller based on the nonlinear ESO is constructed for the desired formation performance. In addition, the amount of communications between the quadrotors is decreased by the constructed distributed speed estimator. And the uniformly ultimately bounded is proved by using the Lyapunov method. Finally, the numerical example is used to demonstrate that the designed controller is effective.

Journal

Transactions of the Institute of Measurement and ControlSAGE

Published: Sep 1, 2022

Keywords: Dynamic surface control; leader-follower method; nonlinear extended state observer; quadrotor

There are no references for this article.